Wide area positioning system

Abstract

Systems and methods are described for determining position of a receiver. The positioning system comprises a transmitter network including transmitters that broadcast positioning signals. The positioning system comprises a remote receiver that acquires and tracks the positioning signals and/or satellite signals. The satellite signals are signals of a satellite-based positioning system. A first mode of the remote receiver uses terminal-based positioning in which the remote receiver computes a position using the positioning signals and/or the satellite signals. The positioning system comprises a server coupled to the remote receiver. A second operating mode of the remote receiver comprises network-based positioning in which the server computes a position of the remote receiver from the positioning signals and/or satellite signals, where the remote receiver receives and transfers to the server the positioning signals and/or satellite signals.

What is claimed is: 
     
       1. A positioning system comprising:
 a server that receives a plurality of cross-correlation functions that are based on a plurality of positioning signals that are broadcast from a terrestrial transmitter network to a receiver; 
 wherein: 
 for each positioning signal of the plurality of positioning signals, a cross-correlation function of the plurality of cross-correlation functions was generated by cross-correlating one or more signal samples extracted from that positioning signal with a reference sequence corresponding to that positioning signal; 
 the server determines a vector of cross-correlation samples from each cross-correlation function by selecting a first set of cross-correlation samples on a first side of a peak of the cross-correlation function and a second set of cross-correlation samples on a second side of the peak of the cross-correlation function; 
 the server identifies, for each of the positioning signals, a time of arrival estimate corresponding to an earliest arriving signal path of one or more signal paths corresponding to that positioning signal using a time of arrival measurement method that uses the vector of cross-correlation samples; 
 the server estimates a first position of the receiver based on the time of arrival estimate; and 
 the server identifies the time of arrival estimate corresponding to the earliest arriving signal path by generating a reference vector from a correlation function determined by a calculated function or a measurement in a channel environment that has low noise and separable or no multipath components. 
 
     
     
       2. The positioning system of  claim 1 , wherein:
 the server selects uncorrelated noise samples to obtain information regarding a noise sub-space. 
 
     
     
       3. The positioning system of  claim 1 , wherein:
 the server identifies the time of arrival estimate for each of the positioning signals by applying the time of arrival measurement method to the vector of cross-correlation samples corresponding to that positioning signal. 
 
     
     
       4. The positioning system of  claim 1 , wherein:
 each vector of cross-correlation samples includes the peak of the cross-correlation function. 
 
     
     
       5. The positioning system of  claim 1 , wherein:
 each vector of cross-correlation samples includes the first set of cross-correlation samples on the first side of the peak of the cross-correlation function and the second set of cross-correlation samples on the second side of the peak of the cross-correlation function. 
 
     
     
       6. The positioning system of  claim 1 , wherein:
 each reference sequence is a pseudorandom sequence. 
 
     
     
       7. The positioning system of  claim 1 , wherein:
 the time of arrival measurement method is based on at least one of a MUSIC algorithm, an ESPRIT algorithm, or an Eigen-space decomposition method. 
 
     
     
       8. A positioning system comprising:
 a server that receives a plurality of cross-correlation functions that are based on a plurality of positioning signals that are broadcast from a terrestrial transmitter network to a receiver; 
 wherein: 
 for each positioning signal of the plurality of positioning signals, a cross-correlation function of the plurality of cross-correlation functions was generated by cross-correlating one or more signal samples extracted from that positioning signal with a reference sequence corresponding to that positioning signal; 
 the server determines a vector of cross-correlation samples from each cross-correlation function by selecting a first set of cross-correlation samples on a first side of a peak of the cross-correlation function and a second set of cross-correlation samples on a second side of the peak of the cross-correlation function; 
 the server identifies, for each of the positioning signals, a time of arrival estimate corresponding to an earliest arriving signal path of one or more signal paths corresponding to that positioning signal using a time of arrival measurement method that uses the vector of cross-correlation samples; 
 the server estimates a first position of the receiver based on the time of arrival estimate; and 
 the server identifies the time of arrival estimate corresponding to the earliest arriving signal path by:
 generating a frequency domain estimate of a channel; 
 generating a reduced channel estimate vector from the frequency domain estimate of the channel; 
 defining an estimated covariance matrix of the reduced channel estimate vector; and 
 performing singular value decomposition on the estimated covariance matrix. 
 
 
     
     
       9. A positioning system comprising:
 a server that receives a plurality of cross-correlation functions that are based on a plurality of positioning signals that are broadcast from a terrestrial transmitter network to a receiver; 
 wherein: 
 for each positioning signal of the plurality of positioning signals, a cross-correlation function of the plurality of cross-correlation functions was generated by cross-correlating one or more signal samples extracted from that positioning signal with a reference sequence corresponding to that positioning signal; 
 the server determines a vector of cross-correlation samples from each cross-correlation function by selecting a first set of cross-correlation samples on a first side of a peak of the cross-correlation function and a second set of cross-correlation samples on a second side of the peak of the cross-correlation function; 
 the server identifies, for each of the positioning signals, a time of arrival estimate corresponding to an earliest arriving signal path of one or more signal paths corresponding to that positioning signal using a time of arrival measurement method that uses the vector of cross-correlation samples; 
 the server estimates a first position of the receiver based on the time of arrival estimate; and 
 the server identifies the time of arrival estimate corresponding to the earliest arriving signal path by:
 generating a vector of sorted singular values; and 
 using the vector of sorted singular values to separate signal and noise subspaces. 
 
 
     
     
       10. A positioning system comprising:
 a server that receives a plurality of cross-correlation functions that are based on a plurality of positioning signals that are broadcast from a terrestrial transmitter network to a receiver; 
 wherein: 
 for each positioning signal of the plurality of positioning signals, a cross-correlation function of the plurality of cross-correlation functions was generated by cross-correlating one or more signal samples extracted from that positioning signal with a reference sequence corresponding to that positioning signal; 
 the server determines a vector of cross-correlation samples from each cross-correlation function by selecting a first set of cross-correlation samples on a first side of a peak of the cross-correlation function and a second set of cross-correlation samples on a second side of the peak of the cross-correlation function; 
 the server identifies, for each of the positioning signals, a time of arrival estimate corresponding to an earliest arriving signal path of one or more signal paths corresponding to that positioning signal using a time of arrival measurement method that uses the vector of cross-correlation samples; 
 the server estimates a first position of the receiver based on the time of arrival estimate; and 
 the server identifies the time of arrival estimate corresponding to the earliest arriving signal path by generating a noise subspace matrix. 
 
     
     
       11. A positioning system comprising:
 a server that receives a plurality of cross-correlation functions that are based on a plurality of positioning signals that are broadcast from a terrestrial transmitter network to a receiver; 
 wherein: 
 for each positioning signal of the plurality of positioning signals, a cross-correlation function of the plurality of cross-correlation functions was generated by cross-correlating one or more signal samples extracted from that positioning signal with a reference sequence corresponding to that positioning signal; 
 the server determines a vector of cross-correlation samples from each cross-correlation function by selecting a first set of cross-correlation samples on a first side of a peak of the cross-correlation function and a second set of cross-correlation samples on a second side of the peak of the cross-correlation function; 
 the server identifies, for each of the positioning signals, a time of arrival estimate corresponding to an earliest arriving signal path of one or more signal paths corresponding to that positioning signal using a time of arrival measurement method that uses the vector of cross-correlation samples; 
 the server estimates a first position of the receiver based on the time of arrival estimate; and 
 the server determines the first position of the remote receiver based on a non-linear objective function and a best estimate of the first position as a set of position parameters that minimize the objective function. 
 
     
     
       12. A positioning system comprising:
 a server that receives a plurality of cross-correlation functions that are based on a plurality of positioning signals that are broadcast from a terrestrial transmitter network to a receiver; 
 wherein: 
 for each positioning signal of the plurality of positioning signals, a cross-correlation function of the plurality of cross-correlation functions was generated by cross-correlating one or more signal samples extracted from that positioning signal with a reference sequence corresponding to that positioning signal; 
 the server determines a vector of cross-correlation samples from each cross-correlation function by selecting a first set of cross-correlation samples on a first side of a peak of the cross-correlation function and a second set of cross-correlation samples on a second side of the peak of the cross-correlation function; 
 the server identifies, for each of the positioning signals, a time of arrival estimate corresponding to an earliest arriving signal path of one or more signal paths corresponding to that positioning signal using a time of arrival measurement method that uses the vector of cross-correlation samples; 
 the server estimates a first position of the receiver based on the time of arrival estimate; and 
 the server determines the first position of the receiver based on a solution to a set of linearized equations using a least squares method. 
 
     
     
       13. A positioning system comprising:
 a server that receives a plurality of cross-correlation functions that are based on a plurality of positioning signals that are broadcast from a terrestrial transmitter network to a receiver; 
 wherein: 
 for each positioning signal of the plurality of positioning signals, a cross-correlation function of the plurality of cross-correlation functions was generated by cross-correlating one or more signal samples extracted from that positioning signal with a reference sequence corresponding to that positioning signal; 
 the server determines a vector of cross-correlation samples from each cross-correlation function by selecting a first set of cross-correlation samples on a first side of a peak of the cross-correlation function and a second set of cross-correlation samples on a second side of the peak of the cross-correlation function; 
 the server identifies, for each of the positioning signals, a time of arrival estimate corresponding to an earliest arriving signal path of one or more signal paths corresponding to that positioning signal using a time of arrival measurement method that uses the vector of cross-correlation samples; 
 the server estimates a first position of the receiver based on the time of arrival estimate; and 
 the time of arrival measurement method is based on at least one of a signal space separation method, a noise space separation method, a singular value decomposition method, or a covariance estimation method. 
 
     
     
       14. A positioning system comprising:
 a server that receives a plurality of cross-correlation functions that are based on a plurality of positioning signals that are broadcast from a terrestrial transmitter network to a receiver; 
 wherein: 
 for each positioning signal of the plurality of positioning signals, a cross-correlation function of the plurality of cross-correlation functions was generated by cross-correlating one or more signal samples extracted from that positioning signal with a reference sequence corresponding to that positioning signal; 
 the server determines a vector of cross-correlation samples from each cross-correlation function by selecting a first set of cross-correlation samples on a first side of a peak of the cross-correlation function and a second set of cross-correlation samples on a second side of the peak of the cross-correlation function; 
 the server identifies, for each of the positioning signals, a time of arrival estimate corresponding to an earliest arriving signal path of one or more signal paths corresponding to that positioning signal using a time of arrival measurement method that uses the vector of cross-correlation samples; 
 the server estimates a first position of the receiver based on the time of arrival estimate; and 
 the server identifies the time of arrival estimate corresponding to the earliest arriving signal path by:
 generating a reference vector from a correlation function determined by a calculated function or a measurement in a channel environment that has low noise and separable or no multipath components; 
 improving a signal-to-noise ratio in the vector of cross-correlation samples by coherently averaging across at least one of a plurality of pseudorandom code frames and a plurality of bits; 
 calculating a Fourier Transform of the vector of cross-correlation samples; 
 generating a frequency domain estimate of a channel using the Fourier Transform of the vector of cross-correlation samples and a Fourier Transform of the reference vector; 
 generating a reduced channel estimate vector from the frequency domain estimate of the channel; 
 defining an estimated covariance matrix of the reduced channel estimate vector; 
 performing singular value decomposition on the estimated covariance matrix; 
 generating a vector of sorted singular values; 
 using the vector of sorted singular values to separate signal and noise subspaces; 
 generating a noise subspace matrix; and 
 using the noise subspace matrix to identify the time of arrival estimate corresponding to the earliest arriving signal path. 
 
 
     
     
       15. The positioning system of  claim 1 , wherein:
 the first side of the peak of the cross-correlation function is left of the peak of the cross-correlation function; and 
 the second side of the peak of the cross-correlation function is right of the peak of the cross-correlation function.